Hydraulic hammer

ABSTRACT

A hydraulic hammer for a working machine configured for digging a surface includes a housing, a chisel, sensors, and a controller. The housing is coupled to the working machine. The chisel is partially enclosed by the housing and extendable from the housing for digging the surface at a contact location. Each of the sensors is configured for generating a signal indicative of a projecting distance between one of the sensors and the surface. The controller is configured for receiving the signals, determining an angle between the chisel and a plane substantially tangent to the contact location, and reorienting the chisel so that the chisel is substantially orthogonal to the contact location with the angle at substantially ninety degrees.

RELATED APPLICATIONS

This application claims the benefit of India application No.201721041450, titled Hydraulic Hammer, filed Nov. 20, 2017, which ishereby incorporated by reference in its entireties.

FIELD OF THE DISCLOSURE

The present disclosure relates generally to a breaking device applied ona working machine in construction.

BACKGROUND OF THE DISCLOSURE

A hydraulic hammer (e.g., hydraulic breaker or rock breaker) is a widelyused tool in construction. In particular, it can be utilized in clearingobstructions on a road or on walls or crush material on a surface forlater processing. A hydraulic hammer may have a chisel reciprocatingfrom a housing to dig a surface. The hydraulic hammer may not be onlyapplied to an excavator, but also to a backhoe loader, skid steerloader, or other working machine.

In order to obtain the best results from a hydraulic hammer, the chiselmust be operated at an optimal angle with respect to the surface.Departing from this angle may cause damage to the hydraulic hammer, suchas bending the chisel or abrading a housing of the hydraulic hammer.Therefore, it is necessary to develop a technique to reorient thehydraulic hammer such that it is able to perform at the optimal angle.

SUMMARY OF THE DISCLOSURE

This summary is provided to introduce a selection of concepts that arefurther described below in the detailed description and accompanyingdrawings. This summary is not intended to identify key or essentialfeatures of the appended claims, nor is it intended to be used as an aidin determining the scope of the appended claims.

According to an aspect of the present disclosure, a hydraulic hammer fora working machine configured for digging a surface includes a housing, achisel, sensors, and a controller. The housing is coupled to the workingmachine. The chisel is partially enclosed by the housing and extendablefrom the housing for digging the surface at a contact location. Each ofthe sensors is configured for generating a signal indicative of aprojecting distance between one of the sensors and the surface. Thecontroller is configured for receiving the signals, determining an anglebetween the chisel and a plane substantially tangent to the contactlocation, and reorienting the chisel so that the chisel is substantiallyorthogonal to the contact location with the angle at substantiallyninety degrees.

According to an aspect of the present disclosure, a working machineconfigured for digging a surface includes a main frame, a controller, aground engagement device coupled to the main frame and driven by adrivetrain, a moving system, and a hydraulic hammer. The moving systemincludes an implement coupled to the main frame, at least one implementactuator coupled to the implement and the main frame and configured formoving the implement, and a hammer actuator coupled to the implement.The hydraulic hammer is coupled to and moved by the hammer actuator. Thehydraulic hammer includes a housing, a chisel, sensors, and acontroller. The housing is coupled to the implement. The chisel ispartially enclosed by the housing and extendable from the housing fordigging the surface at a contact location. Each of the sensors isconfigured for generating a signal indicative of a projecting distancebetween one of the plurality of sensors and the surface. The controlleris configured for receiving the signals, determining an angle betweenthe chisel and a plane substantially tangent to the contact location,and reorienting the chisel so that the chisel is substantiallyorthogonal to the contact location with the angle at substantiallyninety degrees.

According to an aspect of the present disclosure, a method to adjust ahydraulic hammer of a working machine digging on a contact location of asurface at optimal an optimal angle may include providing a plurality ofsensors positioned on the hydraulic hammer that surround a chisel of thehydraulic hammer; generating signals indicative of projecting distancesreceived by a controller; determining an angle between the chisel and aplane tangent to the contact location of the surface at which chiseloperates; and reorienting the chisel, if the angle is not at the optimaldegrees, until the angle is at the optimal degrees.

Other features and aspects will become apparent by consideration of thedetailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description of the drawings refers to the accompanyingfigures in which:

FIG. 1 is a side view of a excavator with a hydraulic hammer;

FIG. 2 is an enlarged view of one embodiment of a hydraulic hammer withtwo sensors;

FIG. 3 is a side view of the embodiment of FIG. 2;

FIG. 4 is a block diagram illustrating the embodiment of FIG. 2;

FIG. 5 is an enlarged view of another embodiment of a hydraulic hammerwith three sensors;

FIG. 6 is a side view of the embodiment of FIG. 5;

FIG. 7 is a block diagram illustrating the embodiment of FIG. 5.

DETAILED DESCRIPTION OF THE DRAWINGS

The disclosure relates to a working machine, such as an excavator, witha hydraulic hammer (hydraulic breaker, rock breaker). Although thedescription of the hydraulic hammer is directed to the excavator, thedescription is equally applicable to a backhoe loader, a skid steerloader, or other working machine.

The disclosure provides a solution to reorient a chisel of the hydraulichammer so that the hydraulic hammer can be operated at an optimal anglebetween the chisel and a surface which the hydraulic hammer is digging.The optimal angle, in general, is substantially ninety degrees. Thesolution can be utilized in conditions not only when the chisel ofhydraulic hammer is digging a horizontal surface with the workingmachine positioned on the horizontal ground, but also when the workingmachine is positioned on tilted ground and/or when the chisel is digginga tilted contact location of a surface.

Referring to FIGS. 1 and 7, the depicted working machine 1 is anexcavator. The working machine 1 comprises a main frame 12, a movingsystem 2, a hydraulic hammer 3, and a controller 4. The main frame 12includes a chassis 14 accommodating an engine, transmission, coolingsystem (not shown), and a cabin 16. In this embodiment, the workingmachine 1 includes a ground engagement device 18 positioned below themain frame 12 and driven by a drivetrain (not shown). The groundengagement device 18 is a pair of track assemblies but it can also beother kinds of ground engagement devices such as wheels. The workingmachine 1 also includes a swing bearing 13 positioned between the mainframe 12 (chassis 14) and the ground engagement device 18. The swingbearing 13 is coupled to the main frame 12 and to the ground engagementdevice 18 and configured to allow a swing of the main frame 12 relativeto the ground engagement device 18 along an X-Y plane. The swing of themain frame 12 is driven by a swing drive 15 (FIG. 7) of the workingmachine 1.

The moving system 2 of the working machine 1 includes an implement 22coupled to the main frame 12, and an implement actuator 24 driving theimplement 22 to pivotally move along the Y-Z plane. The hydraulic hammer3 is coupled to the implement 22 and is driven by a hammer actuator 26to pivotally move along the Y-Z plane. In this embodiment, the implement22 of the working machine 1 includes a boom 222 having one end coupledto the main frame 12, and an arm 224 having one end coupled to the otherend of the boom 222. The hydraulic hammer 3 is coupled to the other endof the arm 224. The boom 222 is driven by a boom actuator 242, the arm224 is driven by an arm actuator 244, and hydraulic hammer 3 is moved bya hammer actuator 26 to pivotally move along the Y-Z plane.Alternatively, different working machines 1 may have implements 22 andimplement actuators 24 designed in a different fashion, such as merelyincluding one piece of the boom 222 or arm 224, one end of which coupledto the main frame 12 and the other end of which is directly coupled tothe hydraulic hammer 3 and moved by the boom actuator 242 or the armactuator 244.

Referring to FIGS. 1-4, this embodiment provides a solution for when thesurface is not horizontal and tilted about the X axis. The hydraulichammer 3 is coupled to the hammer actuator 3 via a linkage. Thehydraulic hammer 3 comprises a housing 32 coupled to the arm 224, achisel 34, and a plurality of sensors 36 (FIG. 3). The housing 32comprises a bottom surface 322 comprising an aperture 324 through whichthe chisel 34 is positioned. The chisel 34 is partially enclosed by thehousing 32 and extendable from the housing 32 for digging the surface ata contact location C. The plurality of sensors 36, in the embodiment ofFIG. 2-4, includes a first sensor 362 and a second sensor 364 positionedon the bottom surface 322 of the housing 32. The first sensor 362, thesecond sensor 364, and the aperture 324 are substantially collinear. Thefirst sensor 362 is configured for generating a first signal indicativeof a first projecting distance D1 between the first sensor 362 and thesurface. The second sensor 364 is configured for generating a secondsignal indicative of a second projecting distance D2 between the secondsensor 364 and the surface. A first projection P1 is projected on thesurface from the first sensor 362 along the first projecting distanceD1; a second projection P2 is projected on the surface from the secondsensor 364 along the second projecting distance D2.

Referring to FIGS. 3 and 4, because of the surface tilted about X axis,it is feasible to determine the angle between the chisel 34 and thesurface, in particular, the angle between the chisel 34 and a planesubstantially tangent to the contact location C. The data of thepositions of the first sensor 362 and the second sensor 364 is stored ina memory (not shown) in communication with the controller 4. In FIG. 3 adata related to an interval S between the first sensor 362 and thesecond sensor 364 on the bottom surface 322 may also be stored in thememory or calculated by the controller 4 based upon the positions of thefirst sensor 362 and the second sensor 364. Because the interval S maybe a limited amount, the first projection P1 and the second projectionP2 are substantially at the plane that is substantially tangent to thecontact location C. The controller 4 is also configured for receivingthe first signal indicative of the first projecting distance D1 and thesecond signal indicative of the second projecting distance D2. The angletherefore can be determined via the controller 4 by ninety degrees minusarctangent of a difference between the first projecting distance D1 andthe second projecting distance D2 divided by an interval S between afirst sensor 362 and the second sensor 364.

Referring to FIG. 4, since the angle is determined, if the angle is notat the optimal degrees, the chisel 34 of the hydraulic hammer 3 will bereorienting until the chisel 34 is substantially orthogonal to thecontact location C by this closed loop system. In order to reorient thechisel 34, the controller 4 transmits at least one signal to at leastone of the boom actuator 242, arm actuator 244, and hammer actuator 26that may be pivotally moved along the Y-Z plane. It is possible thatcontroller 4 transmits control signals to boom actuator 242, armactuator 244, and hammer actuator 26 to coordinate the boom 222, arm224, and hydraulic hammer 3 to perform the precise alignment.

This embodiment demonstrates a closed loop system. The angle between thechisel 34 and the plane changed by at least one of boom actuator 242,arm actuator 244, and hammer actuator 26 will continue being detected bythe first sensor 362 and the second sensor 364 and then new signalsindicative of first projecting distance D1 and second projectingdistance D2 will be received by the controller 4. Then the controller 4will transmit new control signal(s) to at least one of the boom actuator242, arm actuator 244, and hammer actuator 26 for new alignment.

Referring to FIGS. 5-7, another embodiment is disclosed. The surface maynot only be tilted about X axis but may also be tiled about the Y and/orZ axis as well and therefore this embodiment provides a solution todetect the angle between the chisel 34 and the surface tilted in variousorientations. The plurality of sensors 36, includes a first sensor 362,a second sensor 364, and a third sensor 366 positioned on the bottomsurface 322 of the housing 32. The first sensor 362, the second sensor364, and the third sensor 366 surrounds the aperture 324 through whichthe chisel 34 positioned. The first sensor 362 is configured forgenerating a first signal indicative of a first projecting distance D1between the first sensor 362 and the surface. The second sensor 364 isconfigured for generating a second signal indicative of a secondprojecting distance D2 between the second sensor 364 and the surface.The third sensor 366 is configured for generating a third signalindicative of a third projecting distance D3 between the third sensor366 and the surface. A first projection P1 is projected on the surfacefrom the first sensor 362 along the first projecting distance D1; asecond projection P2 is projected on the surface from the second sensor364 along the second projecting distance D2; and a third projection P3is projected on the surface from the third sensor 366 along the thirdprojecting distance D3. Because the intervals between the first sensor362, the second sensor 364, and the third sensor 366 are limited, thefirst projection P1, the second projection P2, and the third projectionP3 are substantially at the plane that is substantially tangent to thecontact location C. Therefore, the plane tangent to the contact locationC is at least determined by the first projection P1, the secondprojection P2, and the third projection P3.

A controller 4 in this embodiment may calculate a normal vectorperpendicular to the plane and examine whether the normal vector isparallel to the chisel 34 to further examine whether the chisel 34 issubstantially perpendicular/orthogonal to the contact location C withthe angle is at substantially ninety degrees. If not, the controller 4transmits at least one control signal to adjust the angle by reorientingthe chisel 34 facing toward the contact location C of the surface andbeing parallel to the normal vector. To perform such alignment, thecontroller 4 transmits at least one control signal to at least one ofthe drivetrain 19, the at least one implement actuator 24, swing drive15, and the hammer actuator 26 to respectively move at least one of theground engagement device 18, implement 22, main frame 12 (chassis 14),and hydraulic hammer 3. As shown in previous embodiment, the boomactuator 242 and the arm actuator 244 of the implement actuator 24 maydirectly or indirectly cause the hydraulic hammer 3 to move along Y-Zplane. This embodiment further includes controlling at least one of theswing drive 15 and drivetrain 19 (may be associate with steering device,not shown). The controller 4 may optionally transmit a control signal tothe swing drive 15 to swing the main frame 12 (chassis 14) to adjust theangle from the perspective of X-Y plane. The controller 4 may alsooptionally transmit a control signal to the drivetrain 19 to move theworking vehicle 1 to adjust the angle from the perspective of X-Y plane.It is noted that swinging the main frame 12 and/or moving the workingmachine 1 may also incur a change in Z dimension, for example, when theworking machine 1 is operated on a hill. It is possible for thecontroller 4 to transmit multiple control signals to multiple actuatorsand/or drives to perform the alignment of the hydraulic hammer 3.

The reorientation of the chisel 34 may be operated automatically,namely, once the controller 4 receives the data from the sensors 36 anddetermines the angle is not optimal, the controller 4 will keepperforming the reorientation and the sensors 36 will keep providingfeedback to the controller 4, until the angle is at the optimal angle.However, such reorientation may be partially manual. The controller 4may have electrical connection with a display 17 in the cabin 16. Beforethe controller 4 transmits control signals, the controller 4 transmitsat least one notice signal to the display 19, showing the operator ofthe working machine 1 the future position of one of the implement 22,hydraulic hammer and/or degrees that the main frame 12 is going torotate or swing, and/or the direction/route the working machine 1 isgoing toward to get the approval from the operator. In this regards,when the reorientation is performed, it is feasible to eliminate somepotential hazards. For example, the implement 22 will not automaticallycome close to an object positioned near the working machine 1 while themain frame 12 is swinging and/or while the implement 22 is movingbecause the operator may deny an undesirable route.

The plurality of sensors 36 are not required to be positioned on thebottom surface 322 of the housing 32. Once the positions of theplurality of sensors 36 are stored in a memory for the controller 4 toretrieve, it is feasible for the controller 4 to receive the positiondata of the plurality of sensors 36 and projecting distances tocalculate the plane substantially tangent to the contact location C.

The disclosure also provides methods to adjust a hydraulic hammer of aworking machine 1 digging on a contact location of a surface at anoptimal angle. An embodiment with at least two sensors is disclosed asfollows:

Step 1: providing a first sensor and a second sensor positioned on thehydraulic hammer and being surrounding a chisel of the hydraulic hammer.Optionally, the first sensor, the second sensor, and an aperture throughwhich the chisel is positioned are at the same surface. Optionally, thefirst sensor, the second sensor, and the aperture are substantiallycollinear.

Step 2: generating signals indicative of projecting distances receivedby a controller. In this embodiment, the first sensor and the secondsensor are configured for generating a first signal indicative of afirst projecting distance and a second signal indicative of a secondprojecting distance.

Step 3: determining an angle between the chisel and a plane tangent to acontact location of the surface at which chisel operates by thecontroller. The angle is partially determined by ninety degrees minusarctangent of a difference between the first projecting distance and thesecond projecting distance divided by an interval between the firstsensor and the second sensor.

Step 4: reorienting the chisel, if the angle is not at the optimaldegrees (e.g. ninety degrees), until the angle is at the optimaldegrees. This step includes reorienting the chisel facing toward thecontact location and being parallel to a normal vector penetratedthrough the plane. The controller transmits at least one control signalto at least one of a drivetrain, an implement actuator, a swing drive,and a hammer actuator to respectively move at least one of a groundengagement tool, a main frame, an implement, and the hydraulic hammer.It is noted that, optionally, before the controller transmits the atleast one control signal, it generates at least one notice signalindicative of future position the implement, the hydraulic hammer and/ordegrees of the main frame going to rotate or swing, and/or thedirection/route the working machine 1 is going toward (or the futureposition of the working machine) to get the approval from the operator.

Another embodiment with at least three sensors is disclosed as follows:

Step 1: providing a first sensor, a second sensor, and a third sensorpositioned on the hydraulic hammer and being surrounding a chisel of thehydraulic hammer.

Optionally, the first sensor, the second sensor, the third sensor, andan aperture through which the chisel is positioned are at a surface.

Step 2: generating signals indicative of projecting distances receivedby a controller. In this embodiment, the first sensor, the secondsensor, and the third sensor are configured for respectively generatinga first signal indicative of a first projecting distance, a secondsignal indicative of a second projecting distance, and a third signalindicative of a third projecting distance.

Step 3: projecting a first projection on the surface from the firstsensor along the first projection distance; projecting a secondprojection on the surface from the second sensor along the secondprojection distance; projecting a third projection on the surface fromthe third sensor along the third projection distance.

Step 4: determining an angle between the chisel and a plane tangent to acontact location of the surface at which chisel operates by thecontroller. The plane is determined by substantially passing through thefirst projection, the second projection, and the third projection.

Step 5: reorienting the chisel, if the angle is not at the optimaldegrees (e.g. ninety degrees), until the angle is at the optimaldegrees. This step includes reorienting the chisel facing toward thecontact location and being parallel to a normal vector penetratedthrough the plane. The controller transmits at least one control signalto at least one of a drivetrain, an implement actuator, a swing drive,and a hammer actuator to respectively move at least one of a groundengagement tool, a main frame, an implement, and the hydraulic hammer.It is noted that, optionally, before the controller transmits the atleast one control signal, it generates at least one notice signalindicative of future position the implement, the hydraulic hammer and/ordegrees of the main frame going to rotate or swing, and/or thedirection/route the working machine is going toward (or the futureposition of the working machine) to get the approval from the operator.

It is noted that the controller may include multiple control unitsrespectively controlling the movement and/or of working machine,movement of implement(s), and the hydraulic hammer.

Without in any way limiting the scope, interpretation, or application ofthe claims appearing below, a technical effect of one or more of theexample embodiments disclosed herein is to align the hydraulic hammer,directly or indirectly such that the chisel can be operated at theoptimal angel between the chisel and the surface, to utilize appropriatecompact and to avoid damage. Another technical effect of one or more ofthe example embodiments disclosed herein is that the disclosure is ableto use not only on a horizontal surface but also a tilted surface.

The terminology used herein is for the purpose of describing particularembodiments or implementations and is not intended to be limiting of thedisclosure. As used herein, the singular forms “a”, “an” and “the” areintended to include the plural forms as well, unless the context clearlyindicates otherwise. It will be further understood that the any use ofthe terms “has,” “have,” “having,” “include,” “includes,” “including,”“comprise,” “comprises,” “comprising,” or the like, in thisspecification, identifies the presence of stated features, integers,steps, operations, elements, and/or components, but does not precludethe presence or addition of one or more other features, integers, steps,operations, elements, components, and/or groups thereof.

One or more of the steps or operations in any of the methods, processes,or systems discussed herein may be omitted, repeated, or re-ordered andare within the scope of the present disclosure.

While the above describes example embodiments of the present disclosure,these descriptions should not be viewed in a limiting sense. Rather,other variations and modifications may be made without departing fromthe scope and spirit of the present disclosure as defined in theappended claims.

What is claimed is:
 1. A hydraulic hammer for a working machineconfigured for digging a surface, the hydraulic hammer comprising: ahousing coupled to the working machine; a chisel partially enclosed bythe housing and extendable from the housing for digging the surface at acontact location; and a plurality of sensors, each of which isconfigured for generating a signal indicative of a projecting distancebetween one of the plurality of sensors and the surface; and acontroller configured for receiving the signals, determining an anglebetween the chisel and a plane substantially tangent to the contactlocation, and reorienting the chisel so that the chisel is substantiallyorthogonal to the contact location with the angle at substantiallyninety degrees.
 2. The hydraulic hammer of claim 1, wherein theplurality of sensors comprise a first sensor configured for generating afirst signal indicative of a first projecting distance between the firstsensor and the surface, and a second sensor configured for generating asecond signal indicative of a second projecting distance between thesecond sensor and the surface.
 3. The hydraulic hammer of claim 2,wherein the housing comprises a bottom surface comprising an aperturethrough which the chisel is positioned, the first sensor and the secondsensor are positioned on the bottom surface of the housing, and thefirst sensor, the second sensor, and the aperture are substantiallycollinear.
 4. The hydraulic hammer of claim 3, wherein the angle ispartially determined by ninety degrees minus arctangent of a differencebetween the first projecting distance and the second projecting distancedivided by an interval between a first sensor and the second sensor. 5.The hydraulic hammer of claim 2, wherein the plurality of sensorscomprises a third sensor configured for generating a third signalindicative of a third projecting distance between the third sensor andthe surface, and a first projection is projected on the surface from thefirst sensor along the first projecting distance, a second projection isprojected on the surface from the second sensor along the secondprojecting distance, and a third projection is projected on the surfacefrom the third sensor along the third projecting distance, and the planeis at least determined by the first projection, the second projection,and the third projection.
 6. A working machine configured for digging asurface, comprising: a main frame; a controller; a ground engagementdevice coupled to the main frame and driven by a drivetrain; a movingsystem comprising: an implement coupled to the main frame; at least oneimplement actuator coupled to the implement and the main frame andconfigured for moving the implement; a hammer actuator coupled to theimplement; a hydraulic hammer coupled to the hammer actuator and movedby the hammer actuator, comprising: a housing coupled to the implement;a chisel partially enclosed by the housing and extendable from thehousing for digging the surface at a contact location; and a pluralityof sensors, each of which configured for generating a signal indicativeof a projecting distance between one of the plurality of sensors and thesurface; and a controller configured for receiving the signals,determining an angle between the chisel and a plane substantiallytangent to the contact location, and reorienting the chisel so that thechisel is substantially orthogonal to the contact location with theangle at substantially ninety degrees.
 7. The working machine of claim6, wherein the plurality of sensors comprise a first sensor configuredfor generating a first signal indicative of a first projecting distancebetween the first sensor and the surface, and a second sensor configuredfor generating a second signal indicative of a second projectingdistance between the second sensor and the surface.
 8. The workingmachine of claim 7, wherein the housing comprises a bottom surfacecomprising an aperture through which the chisel is positioned, the firstsensor and the second sensor are positioned on the bottom surface of thehousing, and the first sensor, the second sensor, and the aperture aresubstantially collinear.
 9. The working machine of claim 8, wherein theangle is partially determined by ninety degrees minus arctangent of adifference between the first projecting distance and the secondprojecting distance divided by an interval between a first sensor andthe second sensor.
 10. The working machine of claim 7, wherein theplurality of sensors comprises a third sensor configured for generatinga third signal indicative of a third projecting distance between thethird sensor and the surface, and a first projection is projected on thesurface from the first sensor along the first projecting distance, asecond projection is projected on the surface from the second sensoralong the second projecting distance, and a third projection isprojected on the surface from the third sensor along the thirdprojecting distance, and the plane is at least determined by the firstprojection, the second projection, and the third projection.
 11. Theworking machine of claim 6, wherein the plane is penetrated by a normalvector perpendicular to the plane and the controller transmits at leastone control signal to adjust the angle by reorienting the chisel facingtoward the contact location of the surface and being parallel to thenormal vector.
 12. The working machine of claim 6, wherein the at leastone control signal is transmitted to at least one of the drivetrain, theat least one implement actuator, swing drive, and the hammer actuator torespectively move at least one of the ground engagement device, theimplement, the main frame, and the hydraulic hammer.
 13. The workingmachine of claim 12, further comprising a display, and if the angle isnot at substantially ninety degrees, the controller is configured forgenerating a notice signal indicative of an information of a futureposition of the working machine to a display before the controllertransmits at least one control signal to the drivetrain.
 14. A method toadjust a hydraulic hammer of a working machine digging at a contactlocation of a surface at optimal degrees, comprising: providing aplurality of sensors positioned on the hydraulic hammer surrounding achisel of the hydraulic hammer; generating signals indicative ofprojecting distances received by a controller; determining an anglebetween the chisel and a plane tangent to the contact location of thesurface at which chisel operates; and reorienting the chisel, if theangle is not at the optimal degrees, until the angle is at the optimaldegrees.
 15. The method of claim 14, further comprising: providing afirst sensor configured for generating a first signal indicative of afirst projecting distance; and providing a second sensor configured forgenerating a second signal indicative of a second projecting distance;wherein the first sensor, the second sensor, and an aperture throughwhich the chisel is positioned are at a surface, the first sensor, thesecond sensor, and the aperture are substantially collinear.
 16. Themethod of claim 15, wherein the angle is partially determined by ninetydegrees minus arctangent of a difference between the first projectingdistance and the second projecting distance divided by an intervalbetween the first sensor and the second sensor.
 17. The method of claim14, further comprising: providing a first sensor configured forgenerating a first signal indicative of first projecting distance;providing a second sensor configured for generating a second signalindicative of a second projecting distance; and providing a third sensorconfigured for generating a third signal indicative of a thirdprojecting distance; projecting a first projection on the surface fromthe first sensor along the first projecting distance; projecting asecond projection on the surface from the second sensor along the secondprojecting distance; projecting a third projection on the surface fromthe third sensor along the third projecting distance; determining theplane substantially passing through the first projection, the secondprojection, and the third projection.
 18. The method of claim 14,further comprising: reorienting the chisel facing toward a contactlocation and being parallel to a normal vector penetrated through theplane.
 19. The method of claim 14, transmitting at least one controlsignal to adjust the angle comprising: transmitting the at least onecontrol signal to at least one of a drivetrain, a implement actuator, aswing drive, and a hammer actuator to respectively move at least one ofa ground engagement tool, a main frame, an implement, and the hydraulichammer.
 20. The method of claim 19, further comprising generating anotice signal indicative of degrees of the main frame going to swing toa display before transmitting the at least one control signal to theswing drive.